JP2002303680A - Method and apparatus of detecting buried explosive substance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of detecting a buried explosive substance using an infrared camera which can detect the shape and the buried depth of the buried explosive substance by using the infrared camera and a penetrant having a cooling or heating effect. SOLUTION: In the method of detecting the buried explosive substance, the penetrant is sprayed on an explosive-substance buried area, a change in the temperature on the surface of the ground within the area after its spraying is photographed by the infrared camera 6, and a position in which the explosive substance is buried within the area is measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an explosive detection method and apparatus for detecting buried explosives such as land mines and unexploded ordnance, and more particularly, to an infrared camera and a penetration device having a cooling or heating effect. TECHNICAL FIELD The present invention relates to a method and an apparatus for detecting a buried explosive using an infrared camera, which can detect the shape and the buried depth of the buried explosive using a liquid. In addition, using a composite sensor consisting of an infrared camera, a microwave radar detector, and a magnetic detector, it is possible to detect metals provided in land mines, unexploded ordnance, plastic mines, bombs, etc. buried in a predetermined area. The present invention relates to a method for detecting a buried explosive and a device therefor.

[0002]

2. Description of the Related Art Even after the end of battle, about 80 million or more unprocessed land mines are left buried in conflict areas around the world. The most inhumane weapons in peace after the end of the battle are plastic buried antipersonnel mines and shotgun antipersonnel mines using trap lines. Since plastic mine uses only a small amount of metal, it is very difficult and dangerous to detect with a metal detector.

[0003] There is also a workable shot mine which has a function of killing a human by flying about 50 meters square by exploding when a certain level of tension is applied to the trap wire and exploding through a safety pin of a fuse. This trap line type anti-personnel mine hides the fishing line and metal trap line with vegetation, etc.Therefore, when detecting with a metal detector etc., there is a danger that this trap line will be hit by a detector and explode. Finding the trap line is a very difficult task.

[0004] By the way, when a buried explosive such as a land mine as described above is to be detected and processed by a man, the operator directly enters the mine buried area to perform the detection, which involves great danger. In addition, in landmine detection by a man, the work amount of the operator is about several square meters, and the work efficiency is very poor.

In the case of a land mine detector using a metal detector, a metal mine other than a land mine (such as a fragment of a shell) is detected, and the detection rate of the land mine is 1/500 or less. It is very difficult and dangerous to detect using conventional magnetic sensor detection technology because of the resolution.

[0006] For these reasons, currently used landmine detectors mainly use active magnetic sensors, and these detectors can detect and detect a fuse of less than one gram in a buried antipersonnel mine. However, since many metal fragments other than land mines are mixed in the detection area, it is difficult to distinguish between land mines and other substances, and it is not possible to accurately detect land mines and burying depth to detect only land mines. Very difficult. It is also difficult to detect plastic mines. It is also difficult to detect not only land mines but also unexploded ordnance buried in the range of several tens of centimeters to several meters underground, plastic mines, metal pieces attached to bombs, and the like.
In addition, land mines are a few centimeters from the surface so that human weight can be sensed, anti-tank mines are several dozen centimeters so that the weight of tanks can be sensed without detecting human weight, and from aircraft etc. The unexploded ordnance is said to be buried in the range of one to several meters.

[0007]

SUMMARY OF THE INVENTION In order to solve these problems, the present invention uses an infrared camera and a penetrant having a cooling or heating effect to measure the time required for the penetrant to penetrate into the ground. This measurement time is used to measure the depth of buried explosives such as land mines and unexploded ordnance, and to detect the shape of the buried explosive using the temperature difference generated when the permeate reaches the buried explosive. An object of the present invention is to solve the above problem by providing a detection method and an apparatus therefor. Also, a method and an apparatus for detecting a buried explosive that can detect land mines, unexploded bombs, and metals buried in a predetermined area by using a composite sensor including an infrared camera, a microwave radar detector, and a magnetic detector The purpose is to provide.

In the present invention, the position of the detected image is measured in real time by a position measuring means such as GPS and recorded on an electronic map. The recorded data is transmitted to a processing system vehicle or the like so that the buried explosives can be processed. Furthermore, not only land mines, but also reliable detection of buried unexploded bombs buried at depths ranging from several tens of centimeters to several meters underground, plastic mines, and metal pieces installed on metal fuses, etc. Can be.

[0009]

For this reason, the technical solution adopted by the present invention is to spray an infiltration liquid on an explosive buried area and photograph the change of the surface temperature in the area after the spraying with an infrared camera. And measuring a position where the explosive is buried in the area. In addition, the penetrant is sprayed on the explosives buried area, the temperature change of the ground surface in the area after spraying is photographed with an infrared camera, and the buried explosives such as unexploded bombs and anti-tank mine in the area are A buried explosion characterized by detecting with a wave radar detector, a metal detector in the same area with a magnetic detector, and measuring the position of the explosive in the same area based on the information. It is an object detection method.
Further, in the method for detecting a buried explosive, the permeate may be a permeate suitable for an outside temperature. Further, there is provided a method for detecting a buried explosive, wherein a chemical substance and a chemical having a cooling and heating effect are added to the permeate.
Further, there is provided a method for detecting a buried explosive, which comprises displaying the buried explosive on an electronic map based on image information from the infrared camera and information from a GPS. Also, there is provided a method for detecting a buried explosive, characterized in that the time of infiltration into the ground is measured using a permeating liquid, and the buried depth of the buried explosive is measured using the measured time. In addition, means for spraying the permeate into the area where the buried explosive is detected, an infrared camera that captures temperature changes in the area as image information, and measuring the position of the buried explosive based on the image information from the infrared camera A buried explosives detecting device, comprising: a position measuring means for performing the measurement; and an output means for outputting information from the position measuring means. In addition, means for spraying penetrant into the area where buried explosives are detected, an infrared camera that captures temperature changes in the area as image information, and a microwave radar that detects buried explosives such as unexploded ordnance in the area A detector, a magnetic detector for detecting metal in the area, a position measuring means for measuring the position of the buried explosive based on information from the detector, and an output means for outputting information from the position measuring means. A buried explosives detection device comprising: Further, in the buried explosives detecting device, the area is set by a laser marker. Further, the position measuring means can write the position of the buried explosive on an electronic map based on the image information from the infrared camera and the information from the GPS, and It is a detection device. In addition, the means for spraying the permeate into the area for detecting the buried explosive is configured to supply the permeate from a permeate cooling / heating device capable of cooling or heating the permeate to a predetermined temperature. It is a feature of detecting buried explosives.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram of a buried explosives detection device using a permeate, FIG. 2 is an explanatory diagram of a state of detecting an infrared buried explosive using a permeate, and FIG. 3 is a graph illustrating the permeate penetrating. FIG. 4 is a flow chart for detecting a buried explosive.

In FIG. 1 and FIG. 2, reference numeral 1 denotes a laser marker for setting a detection area for a buried explosive. In the case shown in the figure, a laser marker is provided upright at a corner to set a 5 m square area. The laser marker 1 can freely set an appropriate range according to the topography and the like. 2 is a buried explosive (for example, a mine) buried in the detection area,
Reference numeral 3 denotes another buried explosive buried in the same area (for example, a scattered mine).

Reference numeral 4 denotes a permeating liquid spraying machine as a means for spraying the permeating liquid to the detection area. This machine includes a nozzle 4a capable of uniformly spraying a permeating liquid having properties described later to the detection area. 4a is appropriately held by supporting means. Further, the nozzle 4a is formed in a long nozzle shape as shown in FIG. 2 so that the permeating liquid can be evenly spread over a wide range as possible.
The nozzle 4a is held so as to be able to swing freely with respect to the permeate spraying machine as necessary, and the permeate sprayer is also configured as a mobile machine such as a self-propelled type as required.

Reference numeral 5 denotes a permeate cooling / heating device capable of cooling or heating the permeate to a predetermined temperature. The cooling / heating device uses a known cooling / heating device. Reference numeral 6 denotes a known infrared camera used to detect a buried explosive (land mine or the like), and this camera wirelessly captures information obtained by the camera and image information processed by arithmetic means (not shown). The position measurement vehicle 1 shown in FIG.
An antenna 8 for transmitting to 0 is provided.

The image information transmitted from the antenna 8 of the infrared camera 6 is received by the antenna 9 provided in the position measuring vehicle 10 shown in FIG. 2 and is transmitted from a personal computer or the like arranged in the vehicle 10 together with information from the GPS or the like. It is analyzed in the position measuring means to determine at which position in the detection area the buried explosive exists. Permeate measuring unit 7
Has a function to measure the speed at which the permeate sprayed into the detection area penetrates into the ground, and uses the permeate speed information of the permeate obtained by this unit 7 to bury the depth of the buried explosive. You can know. FIG. 3 shows a graph in which water and a permeating liquid permeate the sandy ground.

The operation of the buried explosives detecting device having the above configuration will be described. First, set the area to detect buried explosives, install a laser marker, for example, as shown in Fig. 1, and set the soil at the measurement site to the depth required for measurement according to JIS (civil engineering) soil engineering measurement method. Gathering
The permeation liquid permeation time is measured using the permeation liquid measurement unit 7, and the information is input to the position measurement means. When the outside air temperature is about 10 ° to 35 ° in the specified detection area, ice and a cooling catalyst are added to a highly permeable solvent, and the permeate is sprayed uniformly through the ground by a permeate sprayer ( About 5 liters per square meter). When the outside air temperature is 10 ° C. or less, the lower solution to which a catalyst for heating and a solvent are added is used as the permeate.

In this manner, the detection area is photographed by the infrared camera 6 in a state where the permeated liquid is sprayed in the area, and the image information is transmitted to the position measurement means 10 in the position measurement vehicle 10 via the antenna 8 to measure the position. In the means, based on the permeation time of the permeated liquid measured in advance, data on the ground surface and data from 1 cm to 5 cm in the ground are selected from the detected image selected in real time. The obtained image data is subjected to image processing such as edge coordination by selecting only those similar to a circle and a rectangle by a known shape recognition technique. The position of the detected image is measured in real time by a known position measuring means such as a GPS and recorded on an electronic map (output means). The recorded data is transmitted to a processing system vehicle (not shown) and the processing of the buried explosive is performed.

The detection operation will be described with reference to the flowchart of FIG. In step 1, first, a detection area is set and a laser marker is set. Step 2
Then, the sediment to the depth required for measurement is collected, and the permeation time of the permeate is measured in advance using the permeate measurement unit. In Step 3, the permeate cooling
The type and temperature are set by the heating device. In step 4, the permeate which has been selected in step 3 and has reached a predetermined temperature is sprayed by the permeate spraying machine 4 to the detection area so as to be uniform. When the penetrating liquid is sprayed to the detection area, it penetrates into the ground at a certain speed, and when there is a buried object, the temperature changes at that part. The state of this temperature change is photographed by an infrared camera in step 5, and based on the image information, buried explosives information is selected by position measuring means in step 6, and image analysis and image processing are further performed to form the buried object. , Depth, etc., and
The approximate position is measured from the PS information, and in step 8, the detailed position is measured based on the position information from the laser marker. The measured information and the landmine detection information thus measured are entered on an electronic map as output means in step 9, and the information is transmitted to a processing system for processing buried explosives in step 10, and based on these information, Treat explosives. Note that the processing of Steps 6 to 10 is performed in the position measurement means provided in the position measurement vehicle 10 described above, but each processing can be appropriately separated and processed by another control device. If the electronic map information in Step 10 can be obtained, other processing means can be used.

Next, a second embodiment of the present invention will be described. The second embodiment uses a composite sensor combining a microwave laser detector 6A and a magnetic detector 6B in addition to the infrared camera of the first embodiment as a means for detecting a buried object. It is characterized in that unexploded ordnance 20, dangerous metal body 21 and the like other than land mines buried in the range of m can be detected. In other words, the infrared camera can detect objects with a burial depth of several tens of centimeters or less, but can detect unexploded ordnance at a depth in the range of several tens of centimeters to several meters underground, and metal objects. Have difficulty. Therefore, in the present embodiment, in addition to the infrared camera 6, the microwave laser detector 6A, the magnetic detector 6B
By combining these, unexploded ordnance and metal are reliably detected.

FIG. 5 is a conceptual diagram of a detection device using a composite sensor, and FIG. 6 is a flowchart showing the same. The same reference numerals as those in FIG. 1 denote the same members. In the second embodiment, the infrared camera 6 shown in FIG. In addition, a microwave laser detector 6A and a magnetic detector 6B are set. These detectors 6, 6
Signals from A and 6B are transmitted to the antenna 8 as in the first embodiment.
To the position measuring means, and is appropriately processed by processing software to measure the positions of unexploded ordnance, metal, and the like. In the flowchart of the second embodiment, a new step 5A is added between steps 5 and 6 of the first embodiment. It should be noted that it is not possible to adopt various forms such as a combination of a microwave laser detector or a magnetic detector and an infrared camera as a composite sensor, or a combination of a microwave laser detector or a magnetic detector alone. Of course.

The embodiments of the present invention have been described above. However, the method of processing image information from an infrared camera is not limited to the above-described method, and various image processing techniques and the like that are currently widely used are used. Of course it is available. Various kinds of permeate can be selected according to the soil to be detected. In addition, it is also possible to mount equipment used for the buried explosives detection device, such as an infrared camera and a permeated liquid spraying machine, on an unmanned vehicle so that it can be remotely controlled. The output means for outputting the information from the position measuring means is not limited to the electronic map, and other forms of output means (such as a printer) can be used. Furthermore, the present invention is not limited to the above embodiments, and the present invention can be implemented in any other form without departing from the spirit or main features thereof. Therefore, the above-described embodiment is merely an example in all aspects and should not be interpreted in a limited manner.

[0021]

As described above in detail, according to the present invention, in the conventional magnetic sensor, explosives and explosives (unexploded bombs) buried in the ground and metal pieces (dust and the like) are classified and detected. Although it was difficult to do this, it is possible to separate these objects by measuring the temperature of the buried object by the difference between the radiant cooling temperature from the object and the temperature in the atmosphere using an infrared camera. In addition, in hazardous areas where harmful gas or the like is filled or scattered explosives are laid and inaccessible to humans, it is possible to remotely mount on a remote-controlled vehicle and know the presence of the buried explosives unattended. When conducting humanitarian explosive detection and elimination in explosive burial and post-conflict countries, scattered explosives on the ground,
It is difficult to accurately judge the position and situation of underground explosives and unexploded ordnance, etc., but it is difficult to operate and recognize it because it can image and display the exact position etc. with an infrared camera and special penetrant Etc. become unnecessary. In conventional explosive detection, only the metal reaction of the explosive fuze or ammunition was measured mainly from a distance, so the reliability of recognition such as the shape of the object recognition was lacking, but with infrared cameras, Shape recognition is also possible. Conventionally, dangerous explosives detection work and the like by a man can be performed safely and unattended from a remote place. Since a special infiltration liquid is used, the burial depth of the object displayed in the image can be determined based on the penetration time, so that it is suitable for detecting an object near the ground surface where an anti-personnel explosive is buried. By cooling or heating the permeate, active infrared detection suitable for the outside temperature of the detection location is possible. It is very difficult to detect only explosives by the conventional detection technology using a magnetic sensor, but it is possible to detect only explosives by accurately judging the detection shape and burying depth. The detection result of a radar sensor or the like using the electric principle is greatly affected by the moisture content and the dielectric constant depending on the underground conditions, but these problems can be solved by using an infrared camera and a penetrant. Furthermore, in addition to infrared cameras, microwave laser detectors and magnetic detectors can be combined to detect buried objects in a complex manner, making it difficult to detect with infrared cameras alone. It is possible to obtain excellent effects such as unexploded bombs buried at a depth within the range, metals and the like provided on plastic bombs can be reliably detected, and the like.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a buried explosives detection device using a permeate according to the present invention.

FIG. 2 is an explanatory diagram of a situation of detecting an infrared buried explosive using the permeate.

FIG. 3 is a graph illustrating a situation in which a permeating liquid permeates.

FIG. 4 is a flowchart of detection of a buried explosive.

FIG. 5 is a configuration diagram of a buried explosives detection device using the composite sensor according to the present invention.

FIG. 6 is a flowchart of detection of a buried explosive shown in FIG. 5;

[Explanation of symbols]

 Reference Signs List 1 laser marker 2 buried explosive (mine) 3 buried explosive (spray mine) 4 osmotic liquid spraying machine 5 osmotic liquid cooling / heating device 6 infrared camera 7 osmotic liquid measuring unit 8, 9 antenna 10 position measuring vehicle 20 buried explosive (Unexploded bomb) 21 metal

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[Procedure amendment]

[Submission date] April 9, 2001 (2001.4.9)

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG. 3

FIG.

FIG. 2

FIG. 4

FIG. 5

FIG. 6

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01V 11/00 G01S 5/14 // G01S 5/14 G01V 9/04 S

Claims (11)

[Claims] 1. Spraying a permeated liquid into an explosive buried area, taking a temperature change of the ground surface in the area after spraying with an infrared camera, and measuring a position where the explosive is buried in the area. Characterized method of detecting buried explosives. 2. Spraying the permeated liquid into the explosive buried area, photographing the temperature change of the ground surface in the area after spraying with an infrared camera, and burying explosives and anti-tank landmines in the area. Detecting objects with a microwave radar detector, detecting metal in the area with a magnetic detector, and measuring the position of explosives buried in the area based on such information. Buried explosives detection method. 3. The method for detecting a buried explosive according to claim 1, wherein the permeate is a permeate which is at an outside air temperature. 4. The method for detecting a buried explosive according to claim 3, wherein a chemical substance and a chemical having a cooling and heating effect are added to the permeate. 5. The image information from the infrared camera and G
The method for detecting a buried explosive according to any one of claims 1 to 4, wherein the buried explosive is displayed on an electronic map based on information from the PS. 6. The burial depth of an buried explosive is measured by measuring the time of infiltration into the ground using a permeate, and using the measured time. 5. The method for detecting a buried explosive according to any one of 5. 7. A means for spraying a penetrant into an area for detecting a buried explosive, an infrared camera for capturing a temperature change in the area as image information, and a method for detecting the buried explosive based on image information from the infrared camera. Position measuring means for measuring the position,
Output means for outputting information from a position measuring means. 8. A means for spraying a permeating liquid into an area for detecting a buried explosive, an infrared camera for capturing a temperature change in the area as image information, and detecting an buried explosive such as an unexploded bomb in the area. Microwave radar detector, magnetic detector to detect metal in the same area, position measurement means to measure the position of buried explosives based on information from them, and output information from position measurement means A buried explosives detection device, comprising: output means. 9. The buried explosives detecting apparatus according to claim 7, wherein the area is set by a laser marker. 10. The position measuring means is capable of writing the position of a buried explosive on an electronic map based on image information from the infrared camera and information from GPS. The buried explosives detection device according to any one of claims 7 to 9. 11. A means for spraying an osmotic liquid to an area for detecting a buried explosive, wherein the osmotic liquid is supplied from an osmotic liquid cooling / heating device capable of cooling or heating the osmotic liquid to a predetermined temperature. The buried explosives detection device according to any one of claims 7 to 10, wherein: